Assalāmu ‘alaykum Wa Raĥmatullahi Wa Barakātuhu
There are three types of liquid:
1. Madhī: This is seminal fluid which is thin and does not decrease the Shahwah (lust). This breaks Wudū but not Ghusl.
2. Manī: This is sperm which is thick and white which breaks the lust and obligates Ghusl.
3. Wadī: The liquid that comes out after urination is called Wadī. This does not obligate Ghusl (bathing) but breaks Wudū.
(Fatāwā-e-Baĥr al-‘Ulūm, vol. 1, p. 73)
Ghusl becomes obligatory when sperm comes out due to lust (Shahwah). If sperm (Manī) comes out without lust then Ghusl does not become obligatory but will break Wudū.
According to the question, the liquid is not sperm, and even if was sperm, it came out without lust, which does not obligate Ghusl. Yes however, Maī (sperm) is an impurity, whether it comes out with lust or not (Fatāwā-e-Ridwiyyah, vol. 4, p. 570) and if it gets on to the clothes or body, they need to be washed thoroughly. Same ruling applies to Madhī and Wadī.
Allah Knows best